Is there an example of INS/GNSS Integrated Navigation System?

You can refer to our open-source openIMU famility here: https://www.aceinna.com/inertial-systems/OpenIMU300ZA
The online manual will help you step by step to use our open-source algorithms on the OpenIMU300 hardware.

Dong

@Dong-xiaoguang
I found this in open-source openIMU famility here: https://www.aceinna.com/inertial-systems/OpenIMU300ZA.
But there is no example of finding an INS/GNSS integrated navigation system.

@huhujiajia , from your picture, I found you already have the INS algorithm. You can find the fusion algorithm here in the following picture. Yours might be slightly different from mine becasue I am on a dev branch.